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[wpimath] Add script for updating Drake (#3470)

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Common functionality between the Drake and Eigen update scripts was
refactored into a library.
This commit is contained in:
Tyler Veness
2021-07-08 23:36:01 -04:00
committed by GitHub
parent 39373c6d2d
commit a4233e1a16
12 changed files with 378 additions and 163 deletions
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10
wpimath/src/main/native/include/drake/common/drake_assert.h
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@@ -98,7 +98,7 @@ namespace assert {
// require special handling.
template <typename Condition>
struct ConditionTraits {
static constexpr bool is_valid = std::is_convertible<Condition, bool>::value;
static constexpr bool is_valid = std::is_convertible_v<Condition, bool>;
static bool Evaluate(const Condition& value) {
return value;
}
@@ -113,7 +113,7 @@ struct ConditionTraits {
#define DRAKE_DEMAND(condition) \
do { \
typedef ::drake::assert::ConditionTraits< \
typename std::remove_cv<decltype(condition)>::type> Trait; \
typename std::remove_cv_t<decltype(condition)>> Trait; \
static_assert(Trait::is_valid, "Condition should be bool-convertible."); \
if (!Trait::Evaluate(condition)) { \
::drake::internal::AssertionFailed( \
@@ -130,7 +130,7 @@ constexpr bool kDrakeAssertIsDisarmed = false;
# define DRAKE_ASSERT(condition) DRAKE_DEMAND(condition)
# define DRAKE_ASSERT_VOID(expression) do { \
static_assert( \
std::is_convertible<decltype(expression), void>::value, \
std::is_convertible_v<decltype(expression), void>, \
"Expression should be void."); \
expression; \
} while (0)
@@ -142,10 +142,10 @@ constexpr bool kDrakeAssertIsDisarmed = true;
} // namespace drake
# define DRAKE_ASSERT(condition) static_assert( \
::drake::assert::ConditionTraits< \
typename std::remove_cv<decltype(condition)>::type>::is_valid, \
typename std::remove_cv_t<decltype(condition)>>::is_valid, \
"Condition should be bool-convertible.");
# define DRAKE_ASSERT_VOID(expression) static_assert( \
std::is_convertible<decltype(expression), void>::value, \
std::is_convertible_v<decltype(expression), void>, \
"Expression should be void.")
#endif

4
wpimath/src/main/native/include/drake/common/drake_assertion_error.h
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@@ -6,8 +6,8 @@
namespace drake {
namespace internal {
/// This is what DRAKE_ASSERT and DRAKE_DEMAND throw when our assertions are
/// configured to throw.
// This is what DRAKE_ASSERT and DRAKE_DEMAND throw when our assertions are
// configured to throw.
class assertion_error : public std::runtime_error {
public:
explicit assertion_error(const std::string& what_arg)

46
wpimath/src/main/native/include/drake/common/drake_copyable.h
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@@ -64,49 +64,3 @@ class Foo {
(void) static_cast<Classname& (Classname::*)( \
const Classname&)>(&Classname::operator=); \
}
/** DRAKE_DECLARE_COPY_AND_MOVE_AND_ASSIGN declares (but does not define) the
special member functions for copy-construction, copy-assignment,
move-construction, and move-assignment. Drake's Doxygen is customized to
render the declarations with appropriate comments.
This is useful when paired with DRAKE_DEFINE_DEFAULT_COPY_AND_MOVE_AND_ASSIGN_T
to work around https://gcc.gnu.org/bugzilla/show_bug.cgi?id=57728 whereby the
declaration and definition must be split. Once Drake no longer supports GCC
versions prior to 6.3, this macro could be removed.
Invoke this this macro in the public section of the class declaration, e.g.:
<pre>
template <typename T>
class Foo {
public:
DRAKE_DECLARE_COPY_AND_MOVE_AND_ASSIGN(Foo)
// ...
};
DRAKE_DEFINE_DEFAULT_COPY_AND_MOVE_AND_ASSIGN_T(Foo)
</pre>
*/
#define DRAKE_DECLARE_COPY_AND_MOVE_AND_ASSIGN(Classname) \
Classname(const Classname&); \
Classname& operator=(const Classname&); \
Classname(Classname&&); \
Classname& operator=(Classname&&); \
/* Fails at compile-time if default-copy doesn't work. */ \
static void DRAKE_COPYABLE_DEMAND_COPY_CAN_COMPILE() { \
(void) static_cast<Classname& (Classname::*)( \
const Classname&)>(&Classname::operator=); \
}
/** Helper for DRAKE_DECLARE_COPY_AND_MOVE_AND_ASSIGN. Provides defaulted
definitions for the four special member functions of a templated class.
*/
#define DRAKE_DEFINE_DEFAULT_COPY_AND_MOVE_AND_ASSIGN_T(Classname) \
template <typename T> \
Classname<T>::Classname(const Classname<T>&) = default; \
template <typename T> \
Classname<T>& Classname<T>::operator=(const Classname<T>&) = default; \
template <typename T> \
Classname<T>::Classname(Classname<T>&&) = default; \
template <typename T> \
Classname<T>& Classname<T>::operator=(Classname<T>&&) = default;

4
wpimath/src/main/native/include/drake/common/drake_throw.h
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@@ -7,7 +7,7 @@
/// @file
/// Provides a convenient wrapper to throw an exception when a condition is
/// unmet. This is similar to an assertion, but uses exceptions instead of
/// std::abort(), and cannot be disabled.
/// ::abort(), and cannot be disabled.
namespace drake {
namespace internal {
@@ -23,7 +23,7 @@ void Throw(const char* condition, const char* func, const char* file, int line);
#define DRAKE_THROW_UNLESS(condition) \
do { \
typedef ::drake::assert::ConditionTraits< \
typename std::remove_cv<decltype(condition)>::type> Trait; \
typename std::remove_cv_t<decltype(condition)>> Trait; \
static_assert(Trait::is_valid, "Condition should be bool-convertible."); \
if (!Trait::Evaluate(condition)) { \
::drake::internal::Throw(#condition, __func__, __FILE__, __LINE__); \

7
wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
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@@ -5,7 +5,8 @@
#include <Eigen/Core>
namespace drake::math {
namespace drake {
namespace math {
/// Computes the unique stabilizing solution X to the discrete-time algebraic
/// Riccati equation:
@@ -47,4 +48,6 @@ Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
const Eigen::Ref<const Eigen::MatrixXd>& Q,
const Eigen::Ref<const Eigen::MatrixXd>& R,
const Eigen::Ref<const Eigen::MatrixXd>& N);
} // namespace drake::math
} // namespace math
} // namespace drake